include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base", 
  published_frame = "odom",
  odom_frame = "carto_odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = true,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 1.5,
  submap_publish_period_sec = 0.5,
  pose_publish_period_sec = 0.01,
  trajectory_publish_period_sec = 0.03,
  rangefinder_sampling_ratio = 1.0,
  odometry_sampling_ratio = 0.8,
  fixed_frame_pose_sampling_ratio = 1.0,
  imu_sampling_ratio = 1.0,
  landmarks_sampling_ratio = 1.0,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.15
TRAJECTORY_BUILDER_2D.max_range = 8.0
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.0
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)


POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

return options